Unmanned aerial vehicle management

ABSTRACT

A base module may be used to receive and house one or more unmanned aerial vehicles (UAVs) via one or more cavities. The base module receives commands from a manager device and identifies a flight plan that allows a UAV to execute the received commands. The base module transfers the flight plan to the UAV and frees the UAV. Once the UAV returns, the base module once again receives it. The base module then receives sensor data from the UAV from one or more sensors onboard the UAV, and optionally receives additional information describing its flight and identifying success or failure of the flight plan. The base module transmits the sensor data and optionally the additional information to a storage medium locally or remotely accessible by the manager device.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims the priority benefit of U.S. ProvisionalApplication No. 62/175,561 filed Jun. 15, 2015 and entitled “UnmannedAerial Vehicle Management,” which is hereby incorporated by reference.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention generally relates to unmanned aerial vehicle (UAV)management. More specifically, the present invention relates to storage,flight planning, and data collection from unmanned aerial vehicles(UAVs).

2. Description of the Related Art

An unmanned aerial vehicle (UAV) is a flying device that does notrequire an onboard pilot, and is typically piloted by remote control,autonomously, or some combination thereof. UAVs often include cameras.In recent years, UAVs have become increasingly affordable and popular inpart due to the proliferation of smaller, more powerful, moreenergy-efficient, and more affordable computers, GPS receivers, cameras,and other electronic components.

UAVs are also sometimes popularly referred to as “drones,” though someconsider the term “drone” to refer to a subset of UAVs that can beoperated out of eyeshot of an operator and beyond line of sight.

Though UAVs allow for the automation of certain tasks, typical UAVs muststill be micromanaged. In particular, a user with a collection (e.g., a“fleet”) of multiple UAVs typically needs to manually program a flightpath individually for each UAV. Each UAV typically must periodicallyreturn to the user so that the user can hook up the UAV to an outlet torecharge a battery onboard the UAV, so that the user can refill a fuelcontainer onboard the UAV, so that the user can fix a hardware/softwareissue with the UAV, so that the user can receive data collected by theUAV, or so that the UAV can be recalled due to poor weather or adversedefensive conditions such as gunfire. Some UAV's flying abilities may behampered by heat, cold, dust, moisture, sand, salt water, frost, rain,mist, ice, snow, smoke, heavy winds, tornadoes, monsoons, storms,sandstorms, acid rain, radiation, or air pollution.

Typically, a “home base” for a UAV is an identified patch of ground neara user of the UAV, sometimes near a power outlet, generator, or fuelsource for recharging or refueling the UAV. Identifying such a home baseby a user managing multiple UAVs may result in confusion or collisionsin situations where multiple UAVs may try to land at the same home base,or could alternately result in a waste of space by granting variousmultiple permanent home base spots to multiple UAVs even when some homebases are empty due to their corresponding UAVs being out flying.Additionally, such a home base generally does not protect the UAV fromadverse weather or adverse defensive conditions, such as gunfire, andmay be conspicuous and difficult to conceal. This may in turn endangerthe UAV or its user in a defensive situation such as a warzone, or tipoff a criminal that UAV-based security may be present.

Therefore, there is a need for improved UAV management and storagemethods and systems.

SUMMARY OF THE CLAIMED INVENTION

A first claimed embodiment of the present invention concerns a systemfor unmanned aerial vehicle management that includes a cavity thatreceives an unmanned aerial vehicle with a sensor. The system alsoincludes a communication transceiver that receives a command transmittedby a manager device. The system also includes a memory and a processorcoupled to the memory and to the communications module. Execution ofinstructions stored in the memory by the processor performs systemoperations. The system operations include identifying a flight plan tobe flown by the unmanned aerial vehicle in order to execute the commandand transferring the flight plan to the unmanned aerial vehicle. Thesystem operations also include freeing the unmanned aerial vehicle fromthe cavity and then receiving the unmanned aerial vehicle via thecavity. The system operations also include receiving sensor data fromthe sensor of the unmanned aerial vehicle and transmitting the sensordata to a data storage medium accessible by the manager device.

A second claimed embodiment of the present invention concerns a methodfor unmanned aerial vehicle management. The method includes receiving anunmanned aerial vehicle via a cavity of a base module, the unmannedaerial vehicle including a sensor. The method also includes receiving acommand at the base module, the command transmitted by a manager device.The method also includes identifying a flight plan by the base module,the flight plan to be flown by the unmanned aerial vehicle in order toexecute the command, and then transferring the flight plan from the basemodule to the unmanned aerial vehicle. The method also includes freeingthe unmanned aerial vehicle from the cavity of the base module and thenreceiving the unmanned aerial vehicle via the cavity of the base module.The method also includes receiving sensor data from the sensor of theunmanned aerial vehicle at the base module and then transmitting thesensor data from the base module to a data storage medium accessible bythe manager device.

A third claimed embodiment of the present invention concerns anon-transitory computer-readable storage medium, having embodied thereona program executable by a processor to perform a method for unmannedaerial vehicle management. The executable method includes receiving anunmanned aerial vehicle via a cavity of a base module, the unmannedaerial vehicle including a sensor. The executable method also includesreceiving a command at the base module, the command transmitted by amanager device. The executable method also includes identifying a flightplan by the base module, the flight plan to be flown by the unmannedaerial vehicle in order to execute the command, and then transferringthe flight plan from the base module to the unmanned aerial vehicle. Theexecutable method also includes freeing the unmanned aerial vehicle fromthe cavity of the base module and then receiving the unmanned aerialvehicle via the cavity of the base module. The executable method alsoincludes receiving sensor data from the sensor of the unmanned aerialvehicle at the base module and then transmitting the sensor data fromthe base module to a data storage medium accessible by the managerdevice.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1A illustrates a top-loading box-shaped base module in a launch orrecovery configuration.

FIG. 1B illustrates a top-loading box-shaped base module in a storageconfiguration.

FIG. 2A illustrates a top-loading cylindrical base module in a launch orrecovery configuration.

FIG. 2B illustrates a side-loading box-shaped base module in a launch orrecovery configuration.

FIG. 2C illustrates a side-loading box-shaped base module with atreadmill runway receiving a landing winged unmanned aerial vehicle.

FIG. 2D illustrates a side-loading box-shaped base module with atreadmill runway freeing a launching winged unmanned aerial vehicle.

FIG. 3A illustrates a side-by-side multi-vehicle top-loading box-shapedbase module in a launch or recovery configuration.

FIG. 3B illustrates a stacked multi-vehicle top-loading cylindrical basemodule in a launch or recovery configuration.

FIG. 4A illustrates a truck containing a stacked multi-vehicletop-loading box-shaped base module with a first stored unmanned aerialvehicle and a second launched unmanned aerial vehicle.

FIG. 4B illustrates a watercraft containing a side-loading cylindricalbase module in a launch or recovery configuration.

FIG. 4C illustrates a building containing a top-loading base module in alaunch or recovery configuration.

FIG. 4D illustrates a vertical takeoff “mother” unmanned aerial vehiclewith a top-loading box-shaped base module in a launch/recoveryconfiguration along with a vertical takeoff “child” unmanned aerialvehicle.

FIG. 4E illustrates a winged “mother” unmanned aerial vehicle with aside-loading cylindrical base module in a launch/recovery configurationalong with a winged “child” unmanned aerial vehicle.

FIG. 5 illustrates various elements of an unmanned aerial vehicle andvarious elements of a base module.

FIG. 6A illustrates an exemplary communication ecosystem allowing directcommunication between a manager device and an unmanned aerial vehicle.

FIG. 6B illustrates an exemplary communication ecosystem allowingcommunication between a manager device and an unmanned aerial vehiclethrough one or more base modules.

FIG. 6C illustrates an exemplary communication ecosystem allowingcommunication between a manager device and an unmanned aerial vehiclethrough a network system.

FIG. 6D illustrates an exemplary communication ecosystem allowingcommunication between a manager device and an unmanned aerial vehiclethrough a combination of a network system and one or more base modules.

FIG. 7 illustrates a property security system using an unmanned aerialvehicle in addition to other security devices.

FIG. 8 illustrates an exemplary user interface identifying an unmannedaerial vehicle.

FIG. 9 is a block diagram of an exemplary computing device that may beused to implement an embodiment of the present invention.

FIG. 10 illustrates an exemplary mission in which three unmanned aerialvehicle are flown from a single base module.

FIG. 11 illustrates a planetwide ecosystem with a master manager deviceand multiple regional manager devices.

FIG. 12 illustrates an unmanned aerial vehicle with a robotic armcollecting a sample to be stored in a sample holder.

FIG. 13 illustrates a package distribution ecosystem using unmannedaerial vehicles for transportation of packages.

DETAILED DESCRIPTION

A base module 105 may be used to receive and house one or more unmannedaerial vehicles 100 (UAVs 100) via one or more cavities 150/250. Thebase module 105 receives commands from a manager device and identifies aflight plan that allows a UAV to execute the received commands. The basemodule transfers the flight plan to the UAV and frees the UAV. Once theUAV returns, the base module once again receives it. The base modulethen receives sensor data from the UAV from one or more sensors onboardthe UAV, and optionally receives additional information describing itsflight and identifying success or failure of the flight plan. The basemodule transmits the sensor data and optionally the additionalinformation to a storage medium locally or remotely accessible by themanager device. The UAV's support systems may thus include the basemodule 105, the management device 600, and the network systems 620. Insome cases, multiple management devices may be use, and may follow ahierarchy with a master management device and multiple regional or localmanagement devices. Data can flow bi-directionally between the UAV 100and its support systems during and between flights. Unique UAV platformidentification can be accomplished by communication ID, U.S. FAAAircraft Vehicle Registration, ICAO international registration, radardata or through registration into the manager device 600.

The unmanned aerial vehicle 100 (UAV) management system may include a3-D ground radar system integrated into and storage methods and systems.Typical current Federal Aviation Administration (FAA) and military radarsystems do not work well below 500 feet AGL. Therefore the UAV 100 inthe present invention may be equipped with identification, encodingaltimeter and a transponder and coupled to the UAV 100 management systemcited in this invention which can sort out traffic separation, collisionavoidance, meets Automatic Dependent Surveillance-Broadcast (ADS-B) FAArequirements, conflicts and navigation during all aspects of UAV 100flight. This system can be a standalone system from the current FAAradar system. The UAV 100 may receive from the base module 105navigation, collision avoidance, weather, re-tasking of objectives andmissions.

The base module 105 may be an environmentally self-containedmodular/transportable pod/shelter system. Base modules 105 may be usedtogether or connected together to form an operation base. Base modules105 may protect one or more UAVs 100 from elements while in long term orshort-term storage, and may themselves be fixed or mobile, optionallyserving as a way of securing drones for transport. Base modules 105 maybe in charge of flight planning and interactive data collection fromUAVs 100. Base modules 105 may in some cases be inflatable or haveinflatable portions. Base modules 105 can allow for ground control,flight operations and maintenance. Base modules 105 can be climatecontrolled, secured and is managed by local or remote management device600.

A fleet operations center may have multiple base modules 105. Basemodules 105 may be coupled to land-based structures, water-basedstructures, vehicles, or some combination thereof. For example, basemodules 105 may be coupled to buildings, buoys, oil rigs, automobiles,watercraft, or aircraft. Therefore, parts of a fleet operations centermay be stationary or mobile. A mobile base module 105 may be useful asit can become operational in short notice to support first-responders ina hurricane, flood, avalanche, earthquake, volcanic eruption, terrorattack, disease outbreak, or other disaster. For smaller UAVs 100, aportable base module 105 may be very small and may even fit into asuitcase, or briefcase. Base modules 105 may be camouflaged or hidden tolook inconspicuous even if carried by a person in public. For example, abase module 105 may be camouflaged as, or hidden within, a suitcase,briefcase, laptop, or binder.

The base module 105 can take on various shapes, can be of varying sizes,and may include a variety of possible configurations. Some base modules105 can be used to store, launch, and recover a single unmanned aerialvehicle 100 (UAV), as illustrated in the exemplary base modules 105 ofFIG. 1A, FIG. 1B, FIG. 2A, and FIG. 2B. Some base modules 105 can beused to store, launch, and recover multiple unmanned aerial vehicles 100(UAVs 100), as illustrated in the exemplary base modules 105 of FIG. 3Aand FIG. 3B.

During storage, base modules 105 may provide environmental protectionfrom heat, cold, dust, moisture, fungus, sand, salt water, frost, rain,mist, ice, snow, smoke, heavy winds, tornadoes, monsoons, storms,sandstorms, acid rain, radiation, or air pollution. Base modules 105 mayinclude interior climate control systems (not pictured) that may includepassive air filters, active air filters, vacuum suction systems, vacuumejectors, electric heaters, gas-based heaters, fans, air conditioners,humidifiers, dehumidifiers, waxing agents/sprays, washing agents/sprays,de-icing agents/sprays, anti-bacterial agents/sprays, anti-microbialagents/sprays, anti-fungal agents/sprays, pH-neutralizing agents/sprays,or some combination thereof. Base modules 105 may also provide defensiveprotection to stored UAVs 100 from gunfire, explosive blasts, flames,smoke, corrosive gases, shrapnel, and ballistics. Base modules 105 mayalso include electromagnetic shielding to protect stored UAVs 100 frombeing accessed and/or controlled by unauthorized parties such asmalicious hackers and to protect UAVs 100 from being disabled byelectromagnetic pulse (EMP) weapons typically used to disableelectronics. Such electromagnetic shielding may include passiveelectromagnetic shielding, such as a Faraday cage, and may furtherinclude active electromagnetic shielding, such as magnetic shielding viaferromagnetic coatings, electromagnets, or superconductors.

FIG. 1A illustrates a top-loading box-shaped base module 105 in alaunch/recovery configuration 170.

The base module 105 of FIG. 1A is configured to be used with a UAV 100.In particular, the base module 105 may be used to receive a UAV 100,store the UAV 100, to recharge the UAV 100, to free the UAV 100 to allowit to take flight, to communicate with the UAV 100 during storage and/orduring flight, and to assist the UAV 100 during takeoffs and landings.

The base module 105 may provide a flight plan for the UAV 100. The UAV100 may execute the flight plan remotely, autonomously,semi-autonomously, or some combination thereof. For example, the flightplan may have an exact flight path for the UAV 100 to follow, or it maymerely identify waypoints, with the UAV 100 moving autonomously betweenwaypoints. The flight plan could also simply identify a mission withoutany particular points or paths defined, such as locating an objectwithin a larger area, allowing the UAV 100 some autonomy in between.

The UAV 100 may use autonomous systems to assist with takeoff andlanding, including computer-controlled adjustments to the altitude,positioning, and rotation of the UAV 100 during takeoff and landing. Thebase module 105 may also use autonomous systems to assist with takeoffand landing of a UAV 100, including computer-controlled adjustments tothe altitude, positioning, and rotation of the takeoff and landingsurface 115 of the base module 105 as compared to the path of anincoming or outgoing UAV 100. In some cases, the takeoff and landingsurface 115 may be a moving surface as in the treadmill runway 215 ofFIG. 2C and FIG. 2D. A takeoff/landing guidance system 285 can help thebase module 105 position itself as appropriate to aid a UAV 100 withtakeoff or landing procedures. For example, the base module 105 may usecameras, radar, or sonar to identify positioning and angle of approachof a landing UAV 100, or may receive positioning and angle of approachdata from the UAV 100, may compare this to the base module 105's ownposition and angle as detected via GPS receiver onboard the base module105, and may direct the base module 105's wheels 135 to reposition thebase module 105 of FIG. 1A as necessary to ensure that a proper and safelanding UAV 100. For example, if the UAV 100 is slightly too far to theleft and is in danger of missing the takeoff/landing surface 115, thetakeoff/landing guidance system 285 of the base module 105 can directthe wheels 135 to move it slightly to the left to align the UAV 100'spredicted path with the treadmill runway 215, or can direct the wheels135 to rotate the base module 105 as appropriate. The base module 105may also factor in wind or other weather conditions into takeoff andlanding assistance.

The base module 100 may also use its wheels 135 to move more significantdistances either autonomously or as requested by a manager device 100.For example, a base module 100 used in a military context might beinstructed to use its wheels 135 to relocate itself out of a warzonearea that could lead to its damage or destruction. Similarly, the basemodule 100 could detect a warzone area via cameras and/or microphonesonboard the base module 100 and autonomously relocate itself via itswheels 135. The base module 100 could also relocate itself autonomouslybased on communications from a UAV 100 in order to aid a UAV 100 that isrunning out out charge/fuel. The base module 100 could also relocateitself to avoid potential environmental hazards that could damage thebase module 105 and/or any stored UAVs 100 s, such as fire or flooding.

The base module 100 may include sensors for locating a nearby UAV 100such as a GPS receiver, one or more radar detectors, one or more sonardetectors, one or more laser rangefinders, and one or more cameras ofany of the types described herein as cameras that can be used by the UAV100. The base module 100 may also include robotic arms, clamps,arresting cables, nets or magnets to assist UAVs 100 with takeoff andlanding.

The base module 100 may also include environmental sensors such asthermometers, humidity sensors, GPS receivers, altimeters, sensorsmeasuring air pollution, microphones, water sensors, and sensorsmeasuring wind. These could trigger the use of air conditioners,filters, and other systems inside the base module 100 meant for theprotection of stored UAVs 100. These could also trigger movement of theUAV 100 away from a particular area, for example to avoid flooding.

The base module 105 of FIG. 1A includes a takeoff/landing surface 115 onwhich a UAV 100 may land or take off from. The takeoff/landing surface115 of FIG. 1A is illustrated in a launch/recovery configuration 170,meaning that the takeoff/landing surface 115 is currently in a positionthat ensures that the UAV 100 is not encumbered from takeoff or landingattempts. The takeoff/landing surface 115 illustrated in FIG. 1 is onlymoderately larger than the UAV 100 itself, indicating that the UAV 100of FIG. 1 is a UAV 100 that is capable of vertical takeoff or landing(VTOL).

A base module 105 may alternately be configured to support a UAV 100that is not capable of VTOL, such as the winged UAVs 440 and 445illustrated in FIG. 4E. Such base modules 105 may include a differenttype of takeoff/landing surface 115, such as a runway, illustrated in amotorized form in FIG. 2C and FIG. 2D.

In some cases one or more alternate landing sites may be identified fora UAV 100, either by the base module 105, by a manager device 600, bythe UAV 100 itself identifying an appropriate landing site, or somecombination thereof. The alternate landing site may be another basemodule 105 or simply another area where the UAV 100 can safely landand/or be protected from poor weather or threats. An alternate landingsite may be useful, for example, if the UAV 100 is prevented fromreturning to its original base module 105 due to poor weather, lack offuel or battery power, dangerous defense or wartime conditions,mechanical problems within the UAV 100 or the original base module 105,detection of an impending threat, or some combination thereof. In somecases, a flight plan may purposely entail a UAV 100 flying from a firstbase module 105 to a second base module 105 in a different location, forexample after a long flight that consumes a lot of fuel or battery powerand does not leave enough for a trip back to the original base module105.

The launch/recovery configuration 170 of FIG. 1A raises thetakeoff/landing surface 115 above the rest of the base module 105 usinga motor 125 and a set of rails 120 along which the takeoff/landingsurface 115 can move vertically. In some cases, the takeoff/landingsurface 115 may be moved up quickly/forcefully along the rails 120 toaid the UAV 100 in takeoff by granting it some vertical momentum. Oncethe UAV 100 has completed its flight and landed on the takeoff/landingsurface 115, the rails 120 and motor 125 can then be used to lower thetakeoff/landing surface 115 and UAV 100 into the base module 105 to bestored in the storage configuration 175 illustrated in FIG. 1B.

The takeoff/landing surface 115 may also include or be coupled to apower transfer module 110 as illustrated in FIG. 5. The power transfermodule 110 may be used to transfer power to a power storage module 505of the UAV 100 after the UAV 100 returns to the base module 105 from aflight. The power storage module 505 of the UAV 100 may include arechargeable battery, a replaceable battery, a fuel tank, a chemicalpower storage system, or a mechanical power storage system (e.g.,compressed air/fluid/nuclear/chemical/ground laser power energystorage).

The process of transferring power from the power transfer module 110 ofthe base module 105 to the power storage module 505 of the UAV 100 mayinclude recharging a battery of the UAV 100 with electric current from apower source/storage module 555 of the base module 105, or may includerefilling a fuel-tank-based power storage module 505 of the UAV 100 withfuel supplied by the base module 105. Toward these ends, the base module105 may include a port, plug, jack, or nozzle. The process oftransferring power from the power transfer module 110 of the base module105 to the power storage module 505 of the UAV 100 may also includereplacing one or more used-up batteries of the UAV 100 with one or morefresh replacement batteries 130 stored in and/or previously charged bythe base module 105, or it may include replacing a used-up fuel tank ofa fuel-tank-based power storage module 505 the UAV 100 with a freshreplacement fuel tank stored by and/or previously filled by the basemodule 105. The process of transferring power from the power transfermodule 110 of the base module 105 to the power storage module 505 of theUAV 100 may also include compressing air/fluid in an air/fluid tank ofthe UAV 100. The process of transferring power from the power transfermodule 110 of the base module 105 to the power storage module 505 of theUAV 100 may include some combination of the above-recited processes.

In cases where the power transfer module 110 transfers power byproviding an electrical current or fuel to the UAV 100, such as to arechargeable battery of the UAV 100 or refuel a fuel canister of the UAV100, the base module 105 may include an port, a cable, a tube, a pipe, ajack, an injector, or some combination thereof for this purpose. In somecases, batteries may be recharged wirelessly through inductive charging,solar, solar generator. The power transfer module 110 may draw itspower/fuel from a power source 555 or power storage 555 that powers thebase module 105, or from a separate power source or power storage unitwithin the power transfer module 110 that is solely dedicated torecharging or refueling UAVs 100. Such power sources or power storagemay include electrical wall socket power outlet, a fuel line, a selfcontained power generator (e.g., operating on fuel, solar power, windpower, compressed air power, chemical power, hydroelectric power,nuclear power, or mechanical power), a capacitor, or a battery.

In cases where the power transfer module 110 transfers power byphysically transferring a fresh replacement battery 130 or a freshreplacement fuel canister, the power transfer module 110 may include amechanical system for performing such replacement tasks. In particular,the power transfer module 110 may include robotic arms or othermechanisms for removing used batteries or fuel canisters from a UAV 100and for inserting the fresh replacement battery 130 or fresh replacementfuel canister into the UAV 100. The power transfer module 110 may storeone or more fresh replacement batteries 130 or fresh replacement fuelcanisters internally. For example, the base modules 105 of FIG. 1A, FIG.1B, and FIG. 2A are all illustrated as storing three replacementbatteries 130 each. The base module 105 can charge any replacementbatteries 130 it stores while they are being stored, and can refuel anyreplacement fuel canisters it stores while they are being stored. Suchreplacement-based power transfer allows a UAV 100 to land after a longflight and very quickly launch again after the replacement battery 130or replacement fuel canister is inserted. Replacing batteries inparticular is often much faster than charging them, meaning that thissupplies a speed benefit. With this in mind, a base module 105 maysometimes be placed in a remote area as a “pit stop” where a preplannedbattery replacement or fuel canister replacement may needed to aid a UAV100 that is in the middle of a longer flight.

The base module 105 may also take care of other “refilling” or“restocking” operations not related to power, such as refilling orrestocking weed/insecticide/seeding aerial spray system or reloading thepackages 1350 of FIG. 13 for delivery.

The base module 105 may also retrieve objects and/or data from the UAV100, such as the samples 1210 along with location data corresponding tolocation data identifying GPS locations and/or altitudes of samplesources 1220. Data from the UAV 100 may in some cases also identifycontents or characteristics of such samples 1210, as the UAV 100 mayinclude laboratory/assay systems to perform assay experiments in whilegathering samples 1210 or in flight. 1210 of FIG. 12 or packages 1350 ofFIG. 13, from the UAV 100. The base module 105 may in some cases performchemical assays on a sample 1210 to determine its ingredients,characteristics, or quality and may report this information back to themanager device 600 or network system 620.

The base module 105 of FIG. 1A includes a communications transceiver145. Each UAV 100 may also include a communications transceiver 530.Each communications transceiver 145/530 may include wired communicationfunctionality and/or wireless communication functionality. Thecommunications transceiver 145 of the base module 105 may use wired orwireless communications protocols to communicate with the communicationstransceiver 530 of the UAV 100 during storage. The communicationstransceiver 145 of the base module 105 may use wireless communicationsprotocols such as radio-frequency (RF), Bluetooth, or Wi-Fi tocommunicate with the communications transceiver 530 of the UAV 100during storage.

The communications transceiver 145 may also be used to communicate in awired or wireless manner with a manager device 600, a communicationstation 615 such as a cell phone tower, a satellite 610, a satellitephone, a radio frequency (RF) radio transceiver, one or more networkservers 620, or some combination thereof. The communications transceiver145 of the UAV 100 may be used by the UAV 100 to communicate wirelesslywith the base module 105, a communication station 615 such as a cellphone tower, a satellite 610, one or more network servers 620, or somecombination thereof.

The communications transceivers 145/530 of the base module 105 and ofthe UAV 100 may be compatible with various types of wired networkconnections, such as fiber optic network connections, Ethernet networkconnections including, but not limited to, coaxial data cable networkconnections, cloud, data center or dial-up modem network connections.The communications transceiver 145 of the UAV 100 may engage in wiredcommunication, for example, when it is stored within the base module105. The communications transceiver 145 s of the base module 105 and ofthe UAV 100 may be compatible with various types of wireless networkconnections, such as Wi-Fi network connections, WiMAX networkconnections, global system for mobile communications (GSM) networkconnections, code division multiple access (CDMA) network connections,general packet radio service (GPRS) network connections, enhanced dataGSM environment (EDGE) network connections, third generation (3G)cellular network connections, fourth generation (4G) cellular networkconnections, Long Term Evolution (LTE) cellular network connections,other 802.x network connections, Bluetooth network connections, radiofrequency network connections (including standard radio frequencies,high frequencies, very high frequencies, ultra-high frequencies),microwave-frequency network connections, ultra-high-frequency (UHF)sound-based connections, radar-based communications, or satellite-basednetwork connections.

The communications transceivers 145 of the base module 105 and of theUAV 100 may also include a Global Positioning System (GPS) as well as aradar, Sound Navigation And Ranging (SONAR), or Light Detection andRanging (LIDAR) based systems, which may be used by the base module 105to keep track of one or more flying UAVs 100, or by the UAVs 100 to keeptrack of a base module 105 and/or other items that the UAV 100 is taskedto detect, locate, and/or retrieve. In some cases, the communicationstransceiver 145 of the UAV 100 may use the communications transceiver145 of the base module 105 as a proxy for certain communications. Forexample, the UAV 100 may communicate data to the base module 105 that isthen communicated to the manager device 600 using the base module 105100's 3G cellular tower-based internet connection, or vice versa. Thecommunications transceivers 145 of both the base module 105 and the UAV100 are described further in relation to FIG. 5, respectively.

The base module 105 of FIG. 1A also includes an electronics module 140,which may house various electronic hardware components and store varioussoftware elements and data structures. For example, the electronicsmodule 140 may be a computing system 900 of FIG. 9, or may include atleast a subset of the components and elements of the computing system900 of FIG. 9. The electronics module 140 also include the base module105's central controller/processor 565 and other hardware and softwareelements 550 of the base module 105 identified in FIG. 5.

The base module 105 of FIG. 1A also includes a set of cylindrical wheels135 for easy transportation and will operate via motors 125, engines,and communications with central facility in robotic mode. These wheels135 may be capable or rotating side-to-side as well, for easier turning.The wheels 135 are optional and may be replaced with othertransportation-assisting components, such as caterpillar treads, traintrack wheels 135, spherical wheels 135 as illustrated in FIG. 2B,pedrail wheels 135, a mechanical walking mechanism, a maglev mechanism,or a sled/skate mechanism.

The base module 105 of FIG. 1A may be constructed primarily from metal,wood, styrofoam, glass, plastic, corrugated metal, fiberglass, acomposite material or some combination thereof. The base module 105 maybe self-contained or include external modules. The base module 105 mayinclude a thermostat and heating and/or cooling unit so that the UAV 100and other internal parts (e.g., replacement batteries 130) may be storedat optimal temperatures or at safe temperatures. The base module 105 mayallow for receipt of a “launch trigger” signal from one or moremanagement devices (e.g. master, remote, or slave devices, or individualsecurity control panels in a home, school, business, farm, corporateheadquarters, law enforcement agency, or military base).

Launching the UAV 100 from the base module 105 may begin with raisingthe takeoff/landing surface 115 to a first predetermined height oraltitude, followed by the UAV 100 flying up to at least a secondpredetermined height or altitude higher than the first predeterminedheight or altitude.

FIG. 1B illustrates a top-loading box-shaped base module 105 in astorage configuration 175. In particular, the base module 105 of FIG. 1Bis the base module 105 of FIG. 1A but in a storage configuration 175rather than a launch/recovery configuration 170.

The base module 105 of FIG. 1B has entered into a storage configuration175 by using the motor 125 and rails 120 to lower the takeoff/landingsurface 115 into the base module 105, exposing a top cavity 150 throughwhich the takeoff/landing surface 115 had been presented while the basemodule 105 was in the launch/recovery configuration 170 illustrated inFIG. 1A.

The top cavity 150 of the base module 105 of FIG. 1B may be coveredmanually or automatically with a lid 160, which is illustrated in FIG.1B as a separate from the base module 105, but may alternately becoupled to the base module 105 as in the lid 160 of FIG. 2A by a hinge,a swinging mechanism, a sliding mechanism, or some combination thereof.The lid 160 of FIG. 1B includes solar panels 165 to assist in providingelectrical energy to power the power transfer module 110, thereplacement batteries 130, and/or the rest of the base module 105, suchas the motor 125 125, the electronics module 140, and the communicationstransceiver 145.

FIG. 2A illustrates a top-loading cylindrical base module 105 in alaunch/recovery configuration 170. The base module 105 of FIG. 2Aincludes many similar components to the base module 105 of FIG. 1A andFIG. 1B, though the shape is cylindrical, and the motor 125 and rails120 that were used to vertically move the takeoff/landing surface 115 ofthe base module 105 of FIG. 1A and FIG. 1B have been replaced by apiston and fluid-tube system (e.g., using a compressed gas or liquid).

While the cylindrical base module 105 of FIG. 2A has a top cavity 150, acylindrical base module 105 may alternately include a side cavity 205 asillustrated in the side-loading cylindrical base module 105 of FIG. 2B.

FIG. 2B illustrates a side-loading box-shaped base module 105 in alaunch/recovery configuration 170. The base module 105 of FIG. 2Bincludes many similar components to the base module 105 of FIG. 1A andFIG. 1B, though the motor 125 and rails 120 that were used to verticallymove the takeoff/landing surface 115 of the base module 105 of FIG. 1Aand FIG. 1B have been replaced by a door 230 (e.g. which may be manuallyopened/closed or automatically opened/closed via a motor) that allowsthe UAV 100 to take off and land through a side cavity 205 in a side ofthe base module 105. The side-loading feature of the base module 105 ofFIG. 2B may be advantageous when the takeoff/landing surface 115 is arunway rather than a VTOL landing “target” surface as illustrated inFIG. 4E, or when the base module 105 is built into a wall. Theside-loading feature of the base module 105 of FIG. 2B may also beadvantageous in that it offers a consistent top surface of the basemodule 105 that may be used to house solar panels to provide electricalpower to help power the power transfer module 110 and/or the rest of thebase module 105.

The side-loading base module 105 of FIG. 2B may also include ahorizontal movement system (not shown) for the takeoff/landing surface115, which may include a horizontally-oriented rail-and-motor 125 system(e.g., similar to the vertical rail-and-motor 125 system of FIG. 1A andFIG. 1B) or a horizontally-oriented fluid-and-piston system (e.g.,similar to the vertical rail-and-motor 125 system of FIG. 2A) to pushthe takeoff/landing surface 115 horizontally outward from the basemodule 105 (not shown) to set up the launch/recovery configuration 170and return the takeoff/landing surface 115 horizontally inward to set upthe storage configuration 175. The base module 105 can also operate withlow door 230 system to contain, store, and maintain unmanned groundbased vehicles in the same manner as UAVs 100.

A side-loading base module 105 similar to the one in FIG. 2B may be usedto store multiple UAVs 100, either by using a single large door 230 anda single large side cavity 250 like a hangar, or by using multiple doors230 and multiple side cavities 25 like a locker room or cabinet, or somecombination thereof.

FIG. 2C illustrates a side-loading box-shaped base module 105 with atreadmill runway 215 receiving a landing winged unmanned aerial vehicle100.

The UAV 100 may use autonomous systems to assist with takeoff andlanding, including a takeoff/landing guidance system 285 that controls atreadmill drivemotor 280 of the treadmill runway 215 of FIG. 2C, whichserves as the takeoff/landing surface 115 of the base module 105 of FIG.2C. The UAV 100 of FIG. 2C is a winged UAV 100 that is illustratedperforming a landing on the treadmill runway 215.

The takeoff/landing guidance system 285 of the base module 105 can useradar or camera-based systems to identify positioning, angle,inclination, pitch, and speed of the incoming UAV 100 is going, or cansimply communicate with the incoming 100 to request and receive thesemeasurements from sensors onboard the UAV 100. The takeoff/landingguidance system 285 then adjusts the speed of the a treadmill drivemotor280 of the treadmill runway 215 to allow the UAV 100 to properlydecelerate after landing without actually requiring a physically longrunway, thus saving space. This can be done, for example, by matchingthe speed of the surface of the treadmill runway 215 to within apredetermined range of the speed of the incoming UAV 100, but in theopposite direction.

The takeoff/landing guidance system 285 of the base module 105 canfurther adjust the position of the base module 105 relative to the UAV100 and to adjust the horizontal angle of the base module 105 relativeto the UAV 100 via the wheels 135. For example, if the predicted landingpath of the UAV 100 would take it slightly too far in a direction andthe UAV 100 in danger of missing the side cavity 250, thetakeoff/landing guidance system 285 can direct the wheels 135 to rotatethe base module 105 and/or move the base module 105 slightly to thatdirection to align the UAV 100's predicted path with the treadmillrunway 215. The takeoff/landing guidance system 285 can factor ineffects of wind or other weather conditions into its prediction of theUAV 100's landing path and appropriate assistance. This may bepreferable to adjusting the path of the UAV 100 especially when the UAV100 is winged, as winged UAVs 100 have a limited range of movement andcannot “strafe” horizontally easily change approach angle or altitudewithout circling around for another landing attempt, which wastes thestored power (battery charge/fuel) onboard the UAV 100 and may beimpossible if the reason for the landing is that the UAV 100 needs torecharge or refuel.

The base module 105 may also include vertical and/or rounded tracks atthe ends of the treadmill runway 215 along which the altitude of eitheror both ends of the treadmill runway 215 can be adjusted up or downvertically. This allows the treadmill runway 215 to be raised or loweredto match the predicted landing altitude of of the approaching UAV 100,and allows the vertical angle of the treadmill runway 215 to be adjustedto match the angle of approach of the UAV 100.

The base module 105 of FIG. 2C also includes an arresting system 270 atthe end of the treadmill runway, which includes a cord or cable, whichmay optionally be elastic, that helps physically stop the momentum ofthe landing UAV 100 if the movement of the treadmill runway 215 and anybraking systems of the UAV 100 are insufficient to help the UAV 100 slowto a stop. Similar arresting systems (not pictured) may be placed on theleft and right sides of the treadmill runway 215 to help keep the UAV100 aligned during a landing. The arresting system 270 may also includea net.

The base module 105 of FIG. 2C is also illustrated as including arolling door 230 similar to a garage door. All of the other variants ofthe base module 105 illustrated or discussed herein may include thistype of door 230.

FIG. 2D illustrates a side-loading box-shaped base module 105 with atreadmill runway 215 freeing a launching winged unmanned aerial vehicle100. The treadmill runway 215 of FIG. 2D is shown moving in the oppositedirection of the UAV 100, allowing the UAV 100 to accelerate relative tothe moving surface of the treadmill runway 215 without needing a longrunway to do so. After the UAV 100 has reached a sufficient level ofacceleration for launch, the treadmill runway 215 of FIG. 2D may slowits movement gradually or stop moving suddenly via brakes to help theUAV 100 move forward and thus aid the launch of the UAV 100 out of theside cavity 250. The treadmill runway 215 may also reverse direction tomove in the same direction as the UAV 100 in order to propel the UAV 100out of the side cavity 250.

The treadmill runway 215 of FIG. 2D also includes a catapult mechanism275 to help propel the UAV 100 out of the side cavity 250. The catapultmechanism 275 of FIG. 2D uses cords/cables coupled to or looped aroundportions of the UAV 100 and pulling the UAV 100 in the direction of theside cavity 250. The cords/cables of the catapult mechanism 275 of FIG.2D may be elastic, driven by springs, driven by counter-weights, drivenby motors, or some combination thereof. The catapult mechanism 275 ofFIG. 2D functions like a ballista or slightshot, though othercatapulting mechanisms 275 may use a trebuchet-style slinging arm. Thecatapult mechanism 275 of FIG. 2D may serve a dual function as thearresting system 270 of FIG. 2C.

The base modules 105 of FIG. 1A, FIG. 1B, or FIG. 2A may have catapultmechanism 275 that “punches” the UAV 100 directly upwards using themotor 125 or piston 210, for example by rapidly propelling thetakeoff/landing surface 115 of those base modules 105 upwards to shootthe UAV 100 out the top cavities 150 of those base modules 105.

A base module 105 may, in some cases, include two or more cavities150/250 and/or doors 230. For example, the base module 105 of FIGS. 2Cand 2D could have a side cavity 250 on either end of the treadmillrunway 215. A single arresting system 270 thus could be reused as thecatapult 275 without rotation of the UAV 100 or takeoff/landing surface115 (i.e., the treadmill runway 215 in FIG. 2C and FIG. 2D) inside thebase module 105.

It should be understood that while the treadmill runway 215 of FIG. 2Cand FIG. 2D is illustrated as located within a side cavity 250 of a basemodule 105, it may alternately be located within a top cavity 150 of thebase module 105 during storage 175, similarly to FIG. 1B, and elevatedabove the base module 105 during takeoff/landing, similarly to FIG. 1A.

FIG. 3A illustrates a side-by-side multi-vehicle top-loading box-shapedbase module 105 in a launch/recovery configuration 170. The base module105 of FIG. 3A includes many similar components to the base module 105of FIG. 1A and FIG. 1B, though it includes four side-by-sidetakeoff/landing surfaces 115, each with a power transfer module 110, andcan thus store four UAVs 100 at a single time. Each of thesetakeoff/landing surfaces 115 and power transfer modules 110 of FIG. 3Amay optionally retract into a top cavity 150 as in the base moduleillustrated in FIG. 1A and FIG. 1B.

FIG. 3B illustrates a stacked multi-vehicle top-loading cylindrical basemodule 105 in a launch/recovery configuration 170. The base module 105of FIG. 3B includes many similar components to the base module 105 ofFIG. 1A and FIG. 1B, or to the base module 105 of FIG. 2A, though itincludes three stacked takeoff/landing surface 115 s, each with a powertransfer module 110, and can thus store three UAVs 100 at a single time.

Because the combination of a stacked storage formation and a singletop-loading cavity can cause difficulties with using the “bottom” or“middle” takeoff/landing surface 115 and any UAV 100 stored thereon, thebase module 105 of FIG. 3B can include an optional horizontal“shuffling” mechanism, allowing the vertical order of thetakeoff/landing surface 115 s, and any UAVs 100 stored thereon, tochange by temporarily moving one or more takeoff/landing surface 115 shorizontally.

Alternately, a stacked multi-UAV 100 base module 105 similar to the basemodule 105 of FIG. 3B may forego the shuffling mechanism and insteadinclude one or more side-loading mechanisms similar to the one describedin relation to FIG. 2B. Therefore, a base module 105 that storesmultiple UAVs 100 may launch or recover the UAVs 100 via one or more topcavities 150, one or more side cavities 250, or some combinationthereof.

While the base modules 105 discussed thus far have included top cavities150 and/or side cavities 250, an alternate base module 105 (notpictured) may include a bottom cavity that can accept a UAV 100. Thebottom cavity may then include a bottom door 230 that, when shut,becomes the takeoff/landing surface 115 on which the UAV 100 restsduring storage 175. To launch, the door 230 of such a base module maysimply open, dropping the UAV 100. While the UAV 100 may require moreairspace to stop its fall and gain control of its flight after such alaunch, this may be an effective embodiment of the base module 105 ifthe base module 105 is stored under and overhang of a tall building oron the underside of an aircraft such as an airplane or a “mother” drone430/440 as in FIG. 4D or FIG. 4E.

FIG. 4A illustrates a truck 405 containing a stacked multi-vehicletop-loading box-shaped base module 105 with a first stored unmannedaerial vehicle 100 and a second launched unmanned aerial vehicle 100.The base module 105 of FIG. 4A includes many similar components to thebase module 105 if FIG. 3B, though it is box-shaped and hidden insidethe rear of a truck. A side-loaded base module 105 with a side cavity250 similar to the base module 105 of FIG. 2B could alternately be usedso that a UAV 100 may take off or land from the rear or side of thetruck. The base module 105 of FIG. 4A could also be used in a differentvehicle such as a passenger automobile, a police vehicle, a SportUtility Vehicle (SUV), a Command RV, or a fire truck. The base module105 may use a sunroof, baggage compartment, or hood as the lid 160 of atop-loading cavity 165, or by using the baggage compartment door or cardoor as the side-loading door 230 of a side cavity 250. The base module105 of FIG. 4A could also be used in a defensive vehicle, such as atank. The truck 405 may include a shuffling mechanism 310 as discussedin FIG. 3B to launch the currently-stored “bottom” UAV 100 of FIG. 4A,or it could launch it via a side cavity 250.

FIG. 4B illustrates a watercraft containing a side-loading cylindricalbase module 105 in a launch/recovery configuration 170. The base module105 of FIG. 3B includes many similar components to the base module 105of FIG. 2B, though the base module 105 of FIG. 4B is cylindrical with aside cavity 250 and door 230. The base module 105 may be disguised byincluding it within a surface of the watercraft, or by disguising acylindrical base module 105 as a chimney. While the watercraft picturedappears to be a larger fuel or coal ship, the watercraft may be asmaller boat, such as a sailboat or jetski. The watercraft may also be asubmarine that may launch or recover a UAV 100 when it surfaces. Thebase module 105 could also alternately be included within or coupled toa buoy or an oil rig. A base module 105 can be a submergible rig/systemthat can be hidden underwater when in its storage configuration 175 andcan surface in its launch/recovery configuration 105. A base module 105that is a submergible rig/system may be via motorized rails or pulleysystems, or via counterweights, or via propellers coupled to the basemodule 105, or via pneumatic or hydraulic tubes, via trim/ballast tankssimilar to a submarine, or some combination thereof. A base module 105may also be included within or coupled to a manned aircraft (not shown)or an unmanned aircraft (see FIG. 4D and FIG. 4E) in a similar manner.

FIG. 4C illustrates a building containing a top-loading base module 105in a launch/recovery configuration 170. The base module 105 of FIG. 3Bincludes many similar components to the base module 105 of FIG. 4B, andis hidden within a false chimney. The base module 105 of FIG. 4C is thusbox-shaped but with a cylindrical takeoff/landing surface 115 and powertransfer module 110. The base module 105 of FIG. 4C could alternately behidden under a roof tile (e.g. in an attic), in a nearby tree (real orfake). Alternately, if the base module 105 was side-loaded as in thebase module 105 of FIG. 2B of FIGURE, the base module 105 could behidden in a window or door 230.

FIG. 4D illustrates a vertical takeoff “mother” unmanned aerial vehicle430 with a top-loading box-shaped base module in a launch/recoveryconfiguration 170 along with a vertical takeoff “child” unmanned aerialvehicle 435.

FIG. 4E illustrates a winged “mother” unmanned aerial vehicle 445 with aside-loading cylindrical base module 105 in a launch/recoveryconfiguration 170 along with a winged “child” unmanned aerial vehicle445.

FIG. 5 illustrates various elements 500 of an unmanned aerial vehicle100 and various elements 550 of a base module 105.

The UAV 100 may include a power storage unit 505. The power storagemodule of the UAV 100 may include a rechargeable or replaceable battery545, a fuel tank, a chemical power storage system, or a mechanical powerstorage system based on compressed air/fluid energy storage.

The UAV 100 may include a power management module 510, which may helpcontrol usage of electrical power by helping to control how muchelectrical power is directed to which components of the UAV 100 and mayhelp the power storage unit last longer by monitoring and controllingelectrical power input and output in a way that prolongs a rechargeablebattery's lifetime. The power management module 510 may also aid inpower transfer operations when the power transfer module 110 of the basemodule 105 is transferring power to the power storage 505 of the UAV100. For example, if the power transfer is a recharging of the battery545, the power management module 510 may ensure that current stopsflowing from the power transfer module 110 once the UAV 100 is fullyrecharged or by ensuring that the current provided by the power transfermodule 110 is provided at the correct amperage, wattage, or voltage.

The UAV 100 may include a local storage 540, which may be a storagedevice 930 as described in FIG. 9.

The UAV 100 may include a sensor module 520 that may include one or moresensors, and may store data from the one or more sensors in the localstorage. The sensor module may include components that receive an inputand/or produce an output. The sensors may include cameras, gyroscopes,laser altimeters, accelerometers (e.g., 3-axis accelerometers connectedto a Global Positioning System and an Inertial Measurement Unit tocompute accurate position and orientation), vehicle speed-sensors,direction, compass heading, wind sensors, light sensors, laserrangefinders, microphones, speakers (pressure transducers),thermometers, barometers, Sound Detection And Ranging (SONAR) sensors,ground-penetrating radar, Light Detection And Ranging (LIDAR) sensors,laser rangefinders, laser illumination systems radar sensors,magnetometers, day/night light sensors, optical beacon locators, laserillumination systems, gimbal input systems, voice input detectionmicrophone-bases systems, RF receivers and transmitters (i.e.,repeaters), weather sensors (e.g., for detecting temperature, wind,rain, snow, hail, lightning, thunder), defense sensors (e.g., gunshotlocator systems, explosion locator systems, onboard real time mapgeneration system processed by sensors/onboard computer, producing maps,digital elevation models while in flight).

Cameras that are part of the sensor module 520 may include visible-lightcameras, night-vision cameras, infrared cameras, ultraviolet cameras,radio imaging cameras, microwave imaging cameras, multispectral or x-rayimaging cameras. Cameras may include ordinary lenses, fish-eye lenses,or other types of specialized convex or concave lenses. Cameras mayoptionally be arranged so that a wider view angle may be stitchedtogether from multiple camera feeds, such as a 360 degree circular view,a X-Y-Z complete spherical view, or some subset of either one of those.Cameras may optionally include analog and/or digital stabilization overone, two, or three dimensions. Other data from other sensors, such asradar or sonar sensors, may also be stitched in a 360 circular orspherical view or some subset thereof, and may be combined with cameradata stitched in this way. The cameras may be video cameras or stillimage cameras.

Other non-camera sensors may also include stabilization units whenapplicable, such as for laser rangefinders, radar sensors, or sonarsensors. The sensors' data may go directly to local storage 540 in theUAV 100 and/or local storage 590 in the base module 105 and/or externalstorage 595, and may also include a buffer so that the data may bestreamed elsewhere (e.g., at the manager device 600). The sensor modulemay also include components configured for multiple object retrieval orcapture, collection such as robotic collections arms, bags, automatichooks, sprayers, recoiling rope/wire systems, probes, baskets, nets,fluid sampling tubes, air samples, radiological and nuclear detectionsampling, magnets, merchandise, medicine, documents, goods, servicecapacity or electromagnets.

The UAV 100 may include a communications transceiver 530 as described inrelation to FIG. 1A. Additionally, some UAVs 100 may communicate withother UAVs 100, either as an end destination to a communication or as a“hop” along to communicating with another device such as the base module105 or manager device 600. In some cases, UAVs 100 can fly in multiplepairs, with a first UAV 100 transmitting data and a second UAV 100receiving the data from the first UAV 100 in order to increase ordecrease the radio frequency (RF) signal baseline from the transmittedand returned signal and operate beyond visual line of sight range andover the curvature of the earth where VHF/UHF RF signals are limited.

The UAV 100 may include a flight mechanism 535. This may include one ormore rotors, one or more wings, one or more thrusters, gas airbag, oneor more glider/sail components, one or more parachutes, or somecombination thereof.

The UAV 100 may include a navigation module 525 to assist in guiding theUAV 100 and executing a flight plan. The navigation module 525 mayinclude software, hardware, or some combination thereof. The navigationmodule 525 may interface with the sensor module in that it may obtaindata from a location sensor such as a Global Positioning System (GPS),GNSS, Radio Frequency (RF) Wired, Wireless, optical lights, IR and(surveyed) ground based optical, radar remote sensors, a gyroscopesensor, an accelerometer sensor, a wind-speed sensor, or somecombination thereof. The navigation module 525 may also includeintelligent routing software elements, and may use computer visiontechniques and onboard radar to avoid stationary and moving obstaclesdetected via a camera sensor, a thermal imaging sensor, a night visionsensor, a laser rangefinder, a Sound Detection And Ranging (SONAR)sensor, a Light Detection and Ranging (LIDAR) sensor, or somecombination thereof. In addition a multi-frequency radar system may beused by the UAV 100 for imaging the earth surface and areas below thesurface, Synthetic aperture radar (SAR) integrated simultaneously withvisual still or video data on a UAV 100 platform with improvedpositioning performance by GPS/IMU georeferencing.

The navigation module 525 may also detect adverse weather conditions,such as rain, ice, sleet, hail, snow, or fog, that might make itdifficult or impossible for the UAV 100 to fly properly. The navigationmodule may also detect adverse defensive conditions, such bullets flyingnearby, airframe icing, nearby flames, nearby explosions, or fallingrubble, which may be detected via microphones, onboard radar, cameras,or thermal imaging, thereby protecting the UAV 100 from threats thatmight destroy or damage the UAV 100. Such adverse conditions, ifdetected by the navigation module, can trigger a re-routing function toeither avoid the adverse conditions or return to the base module 105.The navigation module of the UAV 100 may receive remote-control pilotinput (e.g. including line-of-sight flying or beyond-line-of-sightcamera-based flying) and/or include an autonomous flight or “autopilot”function (e.g., which may be entirely beyond line of sight).

The UAV 100 may include a UAV 100 central controller 515 that executesand manages the other components, such as the power management module,the sensor module, the navigation module, the communications transceiver145, and the local storage, and ensures that any flight plans orobjectives received by the UAV 100 or generated by the UAV 100 areexecuted. The UAV 100 central controller may be a computing system 900as described in FIG. 9.

The UAV 100 may include a local storage 540, which may include one ormore memory storage systems such as the mass storage device 930 and/orportable storage medium drive(s) 940 of FIG. 9.

The base module 105 includes various elements 550 as well.

The base module 105 includes a power transfer module 110. The process of“recharging” a UAV 100 may include recharging a battery of the UAV 100with electric current, replacing a battery 545 of the UAV 100 with afresh/charged replacement battery 130, refilling a fuel tank of the UAV100, or compressing air/fluid in an air/fluid tank of the UAV 100.

The base module 105 may include an energy port/cable that couples thebase module 105 to a power source 555, such as an electrical wall socketpower outlet connected to an electrical grid, a power generator (e.g.,operating on fuel, solar power, wind power, compressed air power,hydroelectric power, nuclear power, or mechanical power), a capacitor,or a battery. In some cases, the base module 105 may contain the powersource 555 itself, such as a power generator. The base module 105 mayalternately or additionally include a power storage system 555 of itsown to help operate the power transfer module 110, which may includerechargeable or replaceable batteries, a fuel tank, a chemical powerstorage system, a nuclear power system, or a mechanical power storagesystem such as one that uses compressed air/fluid energy storage.

The base module 105 may include a communications transceiver 145 asdescribed in relation to FIG. 1A.

The base module 105 may include a local storage, which may include oneor more memory storage systems such as the mass storage device 930and/or portable storage medium drive(s) 940 of FIG. 9. The local memorymay also be communicatively coupled (e.g. via a physical connection or anetwork connection through the communications transceiver 145) to anexternal memory.

The base module 105 may include a navigation module 570, which may aidin preparing a flight plan for the UAV 100. In order to do this, thenavigation module 570 may obtain navigation, mapping, terrain, orweather data from the Internet, from another device accessible through anetwork 620, or from local storage 590 (e.g., previously downloaded dataor data generated by sensors coupled to the base module 105 or one ormore associated UAVs 100). The base module 105 may provide the UAV 100with navigation updates during storage or during a flight. Navigationupdates may include changes to the flight plan, changes to airspace,restricted airspace areas, Temporary Flight Restrictions (TFRs),restricted flight areas, stormy areas or other areas to avoid, othersafety of flight issues such as other aerial traffic conflicts or mapdata. The base module 105 may also aid the UAV 100 in generating aflight plan to complete an objective (e.g., surveillance, security,defense, sensor data retrieval at a given location, or objectretrieval). The UAV 100 operations center, base station, and usercontrols will be supplied via UAV 100, a real time air picture(displayed), generated either by onboard UAV 100 camera or syntheticvision (from actual flight data or digital synthetic product pre loaded)of the operational area available to the user of what is seen by the UAV100 in real time. The function will also show heading, altitude,attitude, airspeed, vertical speed, navigation aids, terrain features,terrain elevation segment colors for the flight in process, UAV symboloverlaid on map showing flight progress, radar picture, Traffic Targets,obstacles such as towers, radio navigational aids, power management,battery level, directional compass with overlay of flight plan route offlight path with clock.

The base module 105 may include a base module 105 central controller 565that executes and manages the other components, such as the powertransfer module 110, the navigation module 570, the communicationstransceiver 145, and the local storage 590, and ensures that any UAV(s)100 associated with the base module 105 are recharged enough to executea flight plan, have enough information to execute a flight plan,alternate if required, and successfully return data to the managerdevice 600 and/or network system.

The base module 105 and/or UAV 100 may in some cases retrieve data from,or transmit to, an external storage 595. The external storage 595 may bea local storage, such as an external hard drive or flash drive that ismanually connected to the base module 105 or UAV 100. The externalstorage 595 may alternately be remote storage, such as storage at thenetwork system(s) 620 illustrated in FIG. 6C or FIG. 6D.

FIG. 6A illustrates an exemplary communication ecosystem allowing directcommunication between a manager device 600 and an unmanned aerialvehicle 100.

The manager device 600 may be any type of device, such as a computingdevice 900 as described in FIG. 9, or may in some cases be a collectionof computing devices (which may include some combination of physicalcomputers and virtual machines) either networked together (e.g., using alocal area network or wireless local area network) or distributedthroughout the Internet. The manager device 600 may be, for example, asmartphone device, a tablet device, a laptop, a desktop, a mobile mediadevice, smart watch, a home entertainment system, or a video gameconsole, or some combination thereof. The manager device 600 mayoptionally be house in a command and control center, data fusion center,remote control facility. The manager device 600 may view various typesof data (see FIG. 8) such as real time navigation data, flight data, UAVsensor data, weather data, flight characteristics, flight activity,flight conditions, wind data, airspace restrictions, synthetic visiondisplayed with UAV 100 location in real time.

The manager device 600 may, as depicted in FIG. 6A, communicate directlyto the UAV 100 (e.g., through a Bluetooth connection if the managerdevice 600 is nearby, or through a Wi-Fi connection) or communicatethrough a connection facilitated by satellite 610 (e.g., using asatellite phone or satellite Internet) or through a connectionfacilitated by a communication-station 615 (e.g., using a cellularnetwork, radio network, or radar waystation). The manager device 600includes its own communications transceiver similar to communicationtransceiver 145 of the base module 105 or communication transceiver 530of the UAV 100.

The manager device 600 may transmit a flight plan to the UAV 100, whichmay include a flight path, waypoints, an objective (e.g., surveillance,GPS location, an address, security, defense, sensor data retrieval at agiven location, or object retrieval), or some combination thereof. TheUAV 100 may then autonomously or semi-autonomously generate a flightplan to execute. The flight plan may include a mission objective, suchas to deliver merchandise to a particular address with confirmation whenmission is completed. The manager device 600 may receive confirmation ofthe execution of the flight plan and/or objective, and may receivesensor data from the sensor module 520 of the UAV 100 in a systematic,sequential manner.

FIG. 6B illustrates an exemplary communication ecosystem allowingcommunication between a manager device 600 and an unmanned aerialvehicle 100 through one or more base modules 105.

The base modules 105 may, in the arrangement of FIG. 6B, communicatefirst with one or more base modules 105, which may then communicate withthe manager device 600. This may be useful in situations where thecommunications transceiver 530 of the UAV 100 is limited in function(e.g., only includes Bluetooth or wired data transfer capabilities)while the communications transceiver 145 of the base module 105(s) isable to communicate with the manager device 600, either through awired/wireless connection of its own (e.g. a wired or Wi-Fi basedInternet connection) or through the use of a satellite-based orcommunication-station-based connection (e.g., using a cellular networkor radio network or radar waystation as described relative to thecommunications transceiver 145 described in FIG. 1A). This allows theUAV 100 to be smaller, more inexpensive, and more energy-efficient, asthe base module 105 does more of the “heavy lifting” with respect tocommunications.

The base modules 105 may include a local memory 590 as discussed withrespect to FIGURE. The local memory may also be communicatively coupled(e.g. via a physical connection or a network connection through thecommunications transceiver 145) to an external memory. The base module105 may then communicate with the manager device(s) 600 in order totransmit stored sensor data from the UAV(s) 100 and/or statusinformation regarding the UAV(s) 100 or the completion of objective(s).Secure global network access may be available to the base modules 105 ifthey are internet-connected via secure log on to the base modules 105.

The base modules 105 may aid the manager device 600 in preparing flightplans for one or more UAVs 100 based on specific objectives. Such flightplans may range anywhere from exact paths to checkpoints between whichthe UAV 100 should autonomously navigate, or one or more objectives thatthe UAV 100 should accomplish, and may in some cases require input fromthe UAV 100 to generate.

FIG. 6C illustrates an exemplary communication ecosystem allowingcommunication between a manager device 600 and an unmanned aerialvehicle 100 through a network system.

The network system 620 may include one or more computer systems, whicheach may be any type of computer system 900 as described in FIG. 9. Thenetwork system 620 may include any combination of physical computers andvirtual machines. The computers systems of the network system 620 may benetworked together (e.g., using a local area network or wireless localarea network) or distributed throughout the Internet. The network system620 may include an interface, which may include a personalized sectionfor the manager device(s) 600 (e.g., via a secure user account) and maystore data in a network storage, which may include one or more storagesystems similar to storage system 930 of FIG. 9. The network storage maybe set up with redundancy in mind, such as in a redundant array ofindependent disks (RAID) system. The network system 620 may then beaccessed by the manager device(s) 600 in order to retrieve stored sensordata from the UAV(s) 100 and/or status information regarding the UAV(s)100 (e.g., health/damage status of each UAV) or the completion ofobjective(s).

The network system 620 may aid the manager device 600 in preparingflight plans for one or more UAVs 100 based on specific objectives. Suchflight plans may range anywhere from exact paths to checkpoints betweenwhich the UAV 100 should autonomously navigate, or one or moreobjectives that the UAV 100 should accomplish, and may in some casesrequire input from the UAV 100 to generate.

The network system 620 and/or base modules 105 may include various toolsand store various data, such as any of the types of UAV 100 information810 illustrated in FIG. 8, any of the types of UAV 100 Status 820 asillustrated in FIG. 8, at least a subset of a UAV 100 mission log 820 asillustrated in FIG. 8, login/account tools, an image of a UAV 100,images of any identifying markings or decals on the UAV 100, (e.g. UAV100 model, UAV 100 identifiers for specific UAVs 100, onboard sensoridentification certified and non certified image and 3D geolocation dataoutput types fully integrated to UAV 100 GPS/INS/Orientation/Positionaldata), UAV 100 maintenance information (e.g., airworthiness certificate,flight schedule, pilot logs), flight plan logs, mission logs, missionobjective logs, sensor logs, current airspace operational areas,weather, restrictions, current obstacle data, stored sensor datamanagement (e.g., viewing and editing images, video, sound, layers,change detection, annotations), navigation data (e.g., maps,architectural data, UAV-detected obstructions or adverse conditions,previous flight plan data), customer/user information, mapping tools(e.g., with layers and overlays and zoom measurements). The networksystem 620 and/or base modules 105 may also provide certified sensordata in streaming format.

The network system 620 may be used to manage a set of UAVs 100 and basemodules 105 located globally around the world from a single managerdevice 600 or set of manager devices 600 (e.g., a set of manager devices600 located at an organization headquarters).

Secure global cloud access may be available to the base modules 105 andnetwork system 620 via secure log on to the system.

FIG. 6D illustrates an exemplary communication ecosystem allowingcommunication between a manager device 600 and an unmanned aerialvehicle 100 through a combination of a network system 620 and one ormore base modules 105. As illustrated in FIG. 6D, information may travelthrough the network system 620 before it reaches a base module 105,after it reaches a base module 105, or both.

FIG. 7 illustrates a property security system using an unmanned aerialvehicle 100 in addition to other security devices. The property securitysystem of FIG. 7 is used to protect building 705 and property 700.

The property security system of FIG. 7 is one exemplary objective thatcan be given to one or more UAVs 100 by a manager device 600. FIG. 7illustrates a UAV 100 completing a flight plan 730 generated by the UAV100, by a base module 105, by a network system 620, by a manager device600, or by some combination thereof. The objective of flight plan 730 issecurity surveillance of a building 705 and its property 700.

The UAV 100 is used in tandem with an existing non-UAV-based securitysystem that includes camera X 720 and camera Y 725. Cones areillustrated indicating lines of sight of camera X 720, camera Y 725, anda camera of the UAV 100, which is currently in a blind spot that cameraX 720 and camera Y 725 cannot see (e.g., the objective given to the UAV100 may have been to cover the blind spots of the non-UAV 100 securitysystem of FIG. 7). The line of sight of the camera of the UAV 100indicates that it has identified a trespasser 710. The UAV 100 thencommunicates an alert as described in FIG. 6A, FIG. 6B, FIG. 6C, or FIG.6D. That is, the UAV 100 communicates its alert through the base module105, which communicates it to the network system 620. The network system620 then notifies the manager device 600, law enforcement 740 (e.g.,police, FBI, the fire department, ambulance), an alarm/security company745, or some combination thereof. The UAV 100 may also contact thenetwork systems 620 directly without the base module 105's help. In somecases, the UAV 100 and/or base module 105 may contact the manager device600, law enforcement 740, or alarm/security company 745 independentlywithout the network systems 620. The UAV 100 and/or base module 105 mayuse satellites 610 or communications stations 615 as communication aids.In some cases, a UAV 100, base device, or network system 620 may beauthorized by the manager device 600 to grant UAV 100 sensor data toanother third party, such as a court, a government agency, an insurancecompany, or an advertiser.

Alternately, the UAV 100 of FIG. 7 may be flown out in reaction to analarm from another security system (e.g., a camera, a thermal camera, amotion detector, a laser tripwire, a sonar or radar sensor). Inparticular, when an alarm system senses an intrusion, a “launch trigger”signal may be sent to instantly to launch the UAV 100 (e.g., the “launchtrigger” signal may be sent to the network systems 620, to the managerdevice 600, to the base modules 105, to the UAV 100 itself, or somecombination thereof). The UAV 100 may then launch in response toreceiving the “launch trigger” signal or a signal based off of the“launch trigger” signal. The UAV 100 operates in an orbit over theproperty providing a superior umbrella view of the property. The UAV 100may be configured to locate and chase a trespasser, for example, orphotograph a trespasser, capture a trespasser with a net, or even attacka trespasser with a weapon (e.g., for military applications).

While the objective given to the UAV 100 in FIG. 7 is securitysurveillance, the UAV 100, through the ecosystem described in FIG. 6D,may be used for various purposes by various parties. For example, theUAV 100 could be used to spot and help put out fires by a firedepartment, to deliver packages for a commercial entity, to assist withsecurity/defense operations by police/SWAT/military operators orcontractors, first-responders in an emergency, to survey property (e.g.,elevation mapping) for flood insurance policy requirements or realestate purposes (e.g. flood insurance mapping or scanning forunderground deposits or hazards), to videotape events for sports andentertainment providers, to survey property and detectmetals/minerals/oil for mining purposes, to perform safety checks (e.g.,detecting leaks, oil or chemical spills, completing maintenance of windfarm wind generators, fires or short circuits) for oil refineries, oilplatform inspections or engineering operations, to survey traffic for anews organization or a trucker on a long trip, or to perform variousphoto/video functions for recreational or real estate sales promotionalpurposes (e.g., family photos from otherwise impossible angles).

FIG. 8 illustrates an exemplary user interface identifying an unmannedaerial vehicle 100. The user interface may be provided to the managerdevice 600 through the network system, through a base device 105, orsome combination thereof. The user interface identifies UAV information810 about the UAV 100, a current status 820 of the UAV 100, and includesa mission log 830 identifying two missions.

FIG. 9 illustrates an exemplary computing/controller system 900, thatmay be used to implement at least part of an embodiment of the presentinvention. For example, the computing/controller system may be arepresentation of the UAV central controller/processor 515, the basemodule central controller/processor 565, the Manager device 600. Thecontroller system 900 of FIG. 9 includes one or more processors 910 andmemory 910. Main memory 910 stores, in part, instructions and data forexecution by processor 910. Main memory 910 can store the executablecode when in operation. The system 900 of FIG. 9 further includes a massstorage device 930, portable storage medium drive(s) 940, output devices950, user input devices 960, a graphics display 970, and peripheraldevices 980, and a Data & Control I/O Interface 995.

The components shown in FIG. 9 are depicted as being connected via asingle bus 990. However, the components may be connected through one ormore data transport means. For example, processor unit 910 and mainmemory 920 may be connected via a local microprocessor bus, cloudfacility/data center, target internet site and the mass storage device930, peripheral device(s) 980, portable storage device 940, and displaysystem 970 may be connected via one or more input/output (I/O) buseseither internally to the controller or external via Data & Control I/OInterface 995

Mass storage device 930, which may be implemented with a magnetic diskdrive, an optical disk drive, or a solid state drive (SSD) is anon-volatile storage device for storing data and instructions for use byprocessor unit 910. Mass storage device 930 can store the systemsoftware for implementing embodiments of the present invention forpurposes of loading that software into main memory 910.

Portable storage device 940 operates in conjunction with a portablenon-volatile storage medium, such as a floppy disk, solid state memory,compact disk or Digital video disc, to input and output data and code toand from the controller system 900 of FIG. 9. The system software forimplementing embodiments of the present invention may be stored on sucha portable medium and input to the computer system 900 via the portablestorage device 940.

Input devices 960 provide a portion of a user interface. Input devices960 may include an alpha-numeric keypad, fingerprint such as a physicalkeyboard or touchscreen-simulated keyboard, for inputting alpha-numericand other information, or a pointing device, such as a mouse, atrackball, stylus, a touchpad, a touchscreen, a microphone utilizingspeech recognition technology, or cursor direction keys. Additionally,the system 900 as shown in FIG. 9 includes output devices 950. Examplesof suitable output devices include speakers, printers, networkinterfaces, and monitors.

Display system 970 may include a liquid crystal display (LCD), Plasma,LED, OLED, CRT or other suitable display device. Display system 970receives textual and graphical information, and processes theinformation for output to the display device.

Peripherals 980 may include any type of computer support device to addadditional functionality to the computer system. For example, peripheraldevice(s) 980 may include a modem/router, or a radio data link, forexample.

The components contained in the controller system 900 of FIG. 9 arethose typically found in computer systems that may be suitable for usewith embodiments of the present invention and are intended to representa broad category of such computer components that are well known in theart. Thus, the computer system 900 of FIG. 9 can be a personal computer,hand held computing device, telephone, mobile computing device,workstation, server, minicomputer, mainframe computer, or any othercomputing device. The controller can also include different busconfigurations, networked platforms, multi-processor platforms, etc.Various operating systems can be used including Unix, Linux, Windows,Macintosh OS, Palm OS, iOS, Android, and other suitable operatingsystems.

FIG. 10 illustrates an exemplary mission in which three unmanned aerialvehicles 100 are flown from a single base module 105. In particular,FIG. 10 illustrates UAV 100A, UAV 100B, and UAV 100C being flown over aproperty 1000 simultaneously in formation all communicating with eachother for mission requirements, spacing and conflict avoidance.

The single mission using multiple UAVs 100 illustrated in FIG. 10 may beaccomplished in a number of ways. For example, all three UAVs 100 may begiven the same mission or objective. For example, if the mission orobjective is to locate a particular target object or person locatedsomewhere on the property, all three UAVs 100 of FIG. 10 may be giventhis objective, and could communicate with each other and/or with thebase module 105 so that they may intelligently cover different areas ofthe property in order to locate the target object or person.

The three UAVs 100 of FIG. 10 could alternately each be given a“sub-mission” or “sub-objective” by the base module 105 or by themanager device 600. For example, if an overall mission or objective isto generate a topographical map of the property of FIG. 10, this may beaccomplished by giving UAV 100A the “sub-mission” to generate a map of afirst third of the property, giving UAV 100B the “sub-mission” togenerate a map of a second third of the property, and giving UAV 100Cthe “sub-mission” to generate a map or elevation of a last third of theproperty. Such pre-division of a mission into sub-missions could also beuseful if the overall mission is to detect fires or leaks or otherhazards that may or may not be present on a property. Such pre-divisionof a mission into sub-missions could also be useful if the overallmission is to take photographs or videos of a target person or object indifferent spectrums (e.g., visible, thermal, ultraviolet) and/or fromdifferent angles (e.g., overhead, side view, perspective view,north-facing, south-facing, east-facing, west-facing, object-tracking),and each UAV 100 is assigned a “sub-mission” of taking photos in aparticular spectrum and/or from a particular angle.

It may be useful to conduct a single mission using multiple UAVs 100 asillustrated in FIG. 10 for various reasons. For example, missions andobjectives may be accomplished more quickly the work is divided betweenmultiple UAVs 100 (e.g., multiple UAVs 100 may generate a terrain map ofan entire property more quickly if three UAVs 100 are mappingsimultaneously). Further, a mission/objective may be accomplished withmore accuracy and precision if the work is assigned to multiple UAVs100. For example, if multiple UAVs 100 are assigned to take photos of ameeting between two target individuals, more photos will be receivedfrom more angles, which may increase the likelihood of receivinghigh-quality photos (e.g. photos in which the faces of the targetindividuals are clearly visible) and various composite imagetechnologies can be used to increase the accuracy and precision ofphotos (e.g., creating a sharper image or stereo image of the targetmeeting by compositing images of different exposures and zoom values, orcreating a three-dimensional image of the target meeting by compositingimages from various angles), Finally, a mission or objective may beaccomplished more efficiently. For example, if the mission is to takeone thousand photos of a target object or person, this may beaccomplished relatively quickly by 3 UAVs 100 but may take longer ifassigned to one UAV 100. This may be particularly important because if amission is inefficient, then by the time the UAV 100 finishes itsmission, the target may have moved out of sight, or the UAV 100 maystart running out of power.

The operations undertaken by UAV 100A, UAV 100B, and UAV 100C of FIG. 10may also include transportation of packages 1350 as illustrated furtherin FIG. 13 or collecting samples 1210 as illustrated in FIG. 12. Theimplementation of FIG. 10 thus may allow for simultaneous deliveries ofpackages 1350 or simultaneous gathering to samples 1210, which may beimportant for scientific research or surveying. The UAVs 100 of FIG. 10may also be used to collect and retransmit live broadcast TV or radio ofweather, news, events, surveillance, catastrophic storm damage recovery,and support rescue missions.

Flight data, such as images, GPS locations, and flight times may becertified by the network systems 620 as accurate and/or as originatingfrom a particular UAV 100.

FIG. 11 illustrates a planetwide ecosystem with a master manager device600 and multiple regional manager devices 600.

The planetwide ecosystem of FIG. 11 is illustrated on a simulated globeof the Earth 1100 and illustrates a headquarters 1110 housing at leastone master manager device 1105. The planetwide ecosystem also includes aRegion A 1120, governed by a regional management center A 1125 with aregional manager device 1150A; a Region B 1130, governed by a regionalmanagement center B 1135 with a regional manager device 1150B; and aRegion C 1140, governed by a regional management center C 1145 with aregional manager device 1150C. The regional manager devices 1150 can,for example, issue missions and objectives to the UAVs 100 in theregion, which are stored (while not flying) at the base devices in theregion. The regional manager device 1150A has also been assigned to bethe alternate master manager device 1115 that may take over the dutiesand control capabilities of the master manager device 1105 the mastermanager device 1105 is out of range, is missing, or is damaged.

Each region includes multiple base modules 105, each potentially storingmultiple UAVs 100. For example, region A 1120 includes base modules105A, region B 1130 includes base modules 105B, and region C 1140includes base modules 105C.

The planetwide ecosystem of FIG. 11 also illustrates network systemdevices 620, which make up the network system 620. The network system620 devices may be distributed globally (in clusters or not) to helpprevent network system 620 downtime in the event that a region isaffected by an issue that would cause problems with network system 620devices (e.g., a natural disaster affecting a regional power grid). Forexample, region A 1120 includes network system devices 620A, region B1130 includes network system devices 620B, region C 1140 includesnetwork system devices 620C, and network system devices 620X are locatedin a part of the earth 1100 not governed by a pictured region.

The planetwide ecosystem of FIG. 11 also illustrates the satellites 610discussed in relation to FIG. 6A, FIG. 6B, FIG. 6C, FIG. 6D, and FIG. 7.

FIG. 12 illustrates an unmanned aerial vehicle 100 with a robotic armcollecting a sample to be stored in a sample holder.

The sample 1210 of FIG. 12 is stored in a tube, but may alternately bestored in a jar, a petri dish, or any other type of container. Thesample holder 1230 of FIG. 12 is a tray for holding tubes, but may beany other type of container. The sample 1210 of FIG. 12 is gatheredusing a robotic arm 1240, but may alternately be gathered with asyringe, or pump or some combination thereof.

The sample 1210 is obtained from a sample source 1220. The sample source1220 may be, for example, farm field soil, crops, a lake, a stream, ariver, a sea, and ocean, a reservoir, a pool, a desert, a forest, aglacier, a mountain snowcap, a rooftop, air, a gas-filled area, asmoke-filled area, a fire, a haze-filled area, chemical, oil, pollution,ocean plastic, fish. The sample 1210 may contain solids, liquids, gases,or some combination thereof. For example, the sample 1210 may containsoil, vegetation, snow, or air.

The UAV 100 may supply the base module 105 with the samples 1210 uponreturn to the base module 105. The base module 105, which is relativelystable and may contain laboratory/assay devices, may perform chemicalassays on a sample 1210 to determine its ingredients, characteristics,or quality, and may report this information back to the manager device600 or network system 620. In some cases, a UAV 100 may includelaboratory/assay devices as well, and can perform chemical assays on asample 1210 during/after collection of the sample 1210 and optionallyduring flight. In these cases, the UAV 100 may report this informationback to the manager device 600 or network system 620 on its own if ithas appropriate communications capabilities.

The UAV 100 may also supply information about a sample 1210 to the basemodule 105, manager device 600, network system 620, or some combinationthereof. For example, the UAV 100 may supply location data identifying aGPS location of the sample source 1220 by obtaining a locationmeasurement from a GPS receiver onboard the UAV 100 during gathering ofthe sample 1210. The UAV 100 may also supply altitude data correspondingto an altitude of the sample source 1220.

The UAV 100 may obtain altitude data by landing at or near the samplesource 120 and measuring altitude using an onboard altitude sensor. TheUAV 100 may alternately hover over a sample source 1220, measure itshover altitude using an onboard altitude sensor, and subtract a rangemeasured using a range-finding sensor such as a laser rangefinder, aradar sensor, or a sonar sensor. This may be useful when the samplesource 1220 is a body of water, such as a lake or swimming pool. The UAV100 may obtain altitude or from looking up the altitude of a certain GPSlocation in a database or other information source that correlateslocations to known altitudes. If the UAV 100 supplies location datawithout altitude data, such an altitude lookup can be instead performedby a base module 105, network system 620, or manager device 600.

Data from the UAV 100 may in some cases also identify ingredients,characteristics, or quality of such samples 1210, as the UAV 100 mayinclude laboratory/assay systems to perform assay experiments in whilegathering samples 1210 or in flight. In this way, a UAV 100 could betasked with performing routine checkups on chlorine levels in swimmingpools, or pesticide levels in crops, or moisture levels in soil. The UAV100 may also include a Geiger counter to identify if a sample 1210 isradioactive, or of tracking a radiation level in an area in which theUAV 100 is flying or landed.

Using a UAV 100 to collect samples 1210 may be advantageous for speed ofgathering samples, the ability to gather samples simultaneously atdifferent locations using multiple UAVs 100, and the ability to gathersamples 1210 in areas that are dangerous for humans, such as radioactiveareas, areas filled with hazardous gases, active volcanoes, steepcliffsides, or warzones.

FIG. 13 illustrates a package distribution ecosystem using unmannedaerial vehicles 100 for transportation of packages 1350.

The package distribution ecosystem of FIG. 13 focuses on a distributioncenter 1310 with multiple base modules 105 and packages 1350. UAVs 100are used to deliver the packages 1350. For example, a UAV 100 isillustrated performing a home delivery 1325 of a package 1350 to acustomer's home 1320. Another UAV 100 is illustrated performing a storestocking delivery 1335 of a package 1350 to a store 1330. Another UAV100 is illustrated performing a shipping delivery 1345 of a package 1350to a shipping facility 1340. Another UAV 100 is illustrated performing atransfer deliver 1380 transporting a package 1350 to anotherdistribution center 1390.

Once at a shipping facility 1340, a package may be transported furthervia plane 1360, truck 1365, train 1370, or watercraft 1375. Theseshipping vehicles may then perform home deliveries 1325, stockingdeliveries 1335, transfer deliveries 1380, or further shippingdeliveries 1345. The plane 1360, truck 1365, train 1370, or watercraft1375 may themselves use UAVs 100 for delivery by housing base modules asillustrated in FIG. 4A, FIG. 4B, FIG. 4D, or FIG. 4E.

The distribution center 1310 of FIG. 13 may be controlled by a managerdevice 600 that identifies deliveries to be made. The packagedistribution ecosystem of FIG. 13 may be combined with the planetwideecosystem of FIG. 11, meaning that the manager device 600 of FIG. 13 maybe a regional manager device 1150 or a master manager device 1105 thatis also in charge of other distribution centers 1390. Though only asingle manager device 600 is illustrated, it should be understood thatmultiple manager devices 600 may be performing this task in tandem, suchas a cloud network system of manager devices 600 supporting an onlinestore or distribution company.

The packages 1350 may include, for example, web or store purchasedpersonal items, hardware, supplies, commercial goods, food, medicine,books, tools, parts, electronics, clothing, documents, merchandise,prescriptions, or some combination thereof.

In some cases, the UAVs 100 of FIG. 13 may deliver the packages 1350 tovery specific designated locations. For example, the customer home 1320may have one or more designated spots, such as the home's doormat, thehome's driveway, or a special delivery bin/box. The UAV 100 could storecoordinate and/or an image of the designated location so that the UAV100 may find the location again via its onboard GPS receiver, computervision analysis from camera(s) onboard the UAV 100, or some combinationthereof. The UAV 100 may then drop or place the package on the spot orinto the box/bin. Similarly, a store 1330 or shipping facility 1345could also have a designated loading bay spot or delivery box/bin toreceive deliveries. A designated delivery box may in some cases have adoor. The door may in some cases additionally include a lock that can beunlocked by the UAV 100 as well as by the delivery recipient. Forexample, the UAV 100 could use a physical key and a robotic arm 1210 orother key extending and turning mechanism. The UAV 100 could also use arobotic arm 1210 to enter a combination into a keypad or keyboard. TheUAV 100 could also use a digital key transmitted wirelessly using anear-field communication (NFC) protocol such as radio-frequencyidentification (RFID), Bluetooth, or Wi-Fi local. The UAV 100 could alsouse a digital key transmitted wirelessly over the Internet via asatellite 610 or communication station 615 such as a cellular tower.

Various forms of transmission media may be involved in carrying one ormore sequences of one or more instructions to a CPU for execution. A buscarries the data to system RAM, from which a CPU retrieves and executesthe instructions. The instructions received by system RAM can optionallybe stored on a fixed disk either before or after execution by a CPU.Various forms of storage may likewise be implemented as well as thenecessary network interfaces and network topologies to implement thesame.

While various embodiments have been described above, it should beunderstood that they have been presented by way of example only, and notlimitation. The descriptions are not intended to limit the scope of theinvention to the particular forms set forth herein. Thus, the breadthand scope of a preferred embodiment should not be limited by any of theabove-described exemplary embodiments. It should be understood that theabove description is illustrative and not restrictive. To the contrary,the present descriptions are intended to cover such alternatives,modifications, and equivalents as may be included within the spirit andscope of the invention as defined by the appended claims and otherwiseappreciated by one of ordinary skill in the art. The scope of theinvention should, therefore, be determined not with reference to theabove description, but instead should be determined with reference tothe appended claims along with their full scope of equivalents.

What is claimed is:
 1. A system for unmanned aerial vehicle management,the system comprising: a housing at a base module, the housing includinga cavity that receives and frees an unmanned aerial vehicle, wherein theunmanned aerial vehicle includes a sensor and a battery; a communicationtransceiver at the base module, wherein the communication transceiverreceives an objective transmitted by a manager device, transfers aflight plan to the unmanned aerial vehicle before the unmanned aerialvehicle is freed from the cavity, receives sensor data from the sensorof the unmanned aerial vehicle after the cavity receives the unmannedaerial vehicle, and transmits the sensor data to a data storage mediumaccessible by the manager device; a power transfer module at the basemodule, wherein the power transfer module robotically replaces thebattery of the unmanned aerial vehicle with a replacement battery afterthe cavity receives the unmanned aerial vehicle; and a computing deviceat the base module, the computing device including a memory that storesinstructions and a processor, wherein execution of the instructions bythe processor causes the processor to generate the flight plan that,when flown by the unmanned aerial vehicle, accomplishes the objective.2. The system of claim 1, wherein the housing includes a door protectingthe cavity, wherein freeing the unmanned aerial vehicle from the cavityincludes opening the door, wherein receiving the unmanned aerial vehiclevia the cavity is followed by closing the door.
 3. The system of claim1, wherein the power transfer module also robotically replaces a fuelcontainer of a second unmanned aerial vehicle with a replacement fuelcontainer.
 4. The system of claim 1, wherein the power transfer modulealso charges the replacement battery before the power transfer modulerobotically replaces the battery of the unmanned aerial vehicle with thereplacement battery.
 5. The system of claim 3, wherein the powertransfer module also transfers fuel from the fuel transfer module to thereplacement fuel container before the power transfer module roboticallyreplaces the fuel container of the second unmanned aerial vehicle withthe replacement fuel container.
 6. The system of claim 1, furthercomprising a lid corresponding to the cavity, wherein freeing theunmanned aerial vehicle from the cavity includes opening the cavity byseparating the lid from the cavity, wherein receiving the unmannedaerial vehicle via the cavity is followed by closing the lid, therebycovering the cavity.
 7. The system of claim 1, further comprising atemperature sensor and a temperature regulation unit at the base module,wherein the temperature regulation unit includes at least one of aheating unit or a cooling unit, wherein execution of the instructions bythe processor causes the processor to regulate a temperature within thecavity using the temperature regulation unit and based on thetemperature sensor.
 8. The system of claim 1, wherein the data storagemedium is a network storage module accessible by the manager device viaa network connection.
 9. The system of claim 1, further comprising ahumidity sensor and a humidity regulation unit at the base module,wherein the humidity regulation unit includes at least one of ahumidifier or a dehumidifier, wherein execution of the instructions bythe processor causes the processor to regulate a humidity level withinthe cavity using the humidity regulation unit and based on the humiditysensor.
 10. The system of claim 1, wherein the sensor includes at leastone camera.
 11. The system of claim 1, wherein execution of theinstructions by the processor further causes the processor to receiveflight plan failure data identifying that a second objective of a secondflight plan was not successfully achieved and identifying a cause offailure.
 12. The system of claim 1, wherein the objective correspondingto the flight plan is accomplished by the unmanned aerial vehicledelivering a package, and wherein execution of the instructions by theprocessor causes the processor to supply the package to the unmannedaerial vehicle.
 13. The system of claim 1, wherein the objectivecorresponding to the flight plan is accomplished by the unmanned aerialvehicle collecting a sample from a sample source along a path of theflight plan, and wherein execution of the instructions by the processorcauses the processor to receive the sample from the unmanned aerialvehicle.
 14. The system of claim 1, further comprising a takeoff andlanding surface in the cavity, and wherein execution of the instructionsby the processor causes the processor to actuate at least a portion ofthe takeoff and landing surface and thereby help propel the unmannedaerial vehicle from the cavity.
 15. The system of claim 1, furthercomprising a runway in the cavity, wherein movement of a treadmillportion of the runway helps free the unmanned aerial vehicle from thecavity.
 16. The system of claim 1, further comprising a runway in thecavity, wherein movement of a treadmill portion of the runway helps theunmanned aerial vehicle land within the cavity.
 17. A method forunmanned aerial vehicle management, the method comprising: receiving anunmanned aerial vehicle via a cavity within a housing of a base module,the unmanned aerial vehicle including a sensor and a battery; storing areplacement battery at the base module; receiving an objective at thebase module, the objective transmitted by a manager device; generating,by the base module, a flight plan that, when flown by the unmannedaerial vehicle, accomplishes the objective; transferring the flight planfrom the base module to the unmanned aerial vehicle; freeing theunmanned aerial vehicle from the cavity of the base module; receivingthe unmanned aerial vehicle via the cavity of the base module; receivingsensor data at the base module from the sensor of the unmanned aerialvehicle; replacing the battery of the unmanned aerial vehicle with thereplacement battery robotically via a power transfer module at the basemodule after receiving the unmanned aerial vehicle via the cavity; andtransmitting the sensor data from the base module to a data storagemedium accessible by the manager device.
 18. The method of claim 17,further comprising: opening a door protecting the cavity before freeingthe unmanned aerial vehicle from the cavity; and closing the door afterreceiving the unmanned aerial vehicle via the cavity.
 19. A method forunmanned aerial vehicle management, the method comprising: receiving anunmanned aerial vehicle via a cavity within a housing of a base module,the unmanned aerial vehicle including a sensor and a fuel canister;receiving an objective at the base module, the objective transmitted bya manager device; generating, by the base module, a flight plan that,when flown by the unmanned aerial vehicle, accomplishes the objective;transferring the flight plan from the base module to the unmanned aerialvehicle; freeing the unmanned aerial vehicle from the cavity of the basemodule; receiving the unmanned aerial vehicle via the cavity of the basemodule; receiving sensor data at the base module from the sensor of theunmanned aerial vehicle; replacing the fuel canister of the unmannedaerial vehicle with a replacement fuel canister associated with the basemodule robotically via a power transfer module at the base module afterreceiving the unmanned aerial vehicle via the cavity; and transmittingthe sensor data from the base module to a data storage medium accessibleby the manager device.
 20. The system of claim 1, wherein execution ofthe instructions by the processor further causes the processor toreceive flight plan success data identifying that the objectivecorresponding to the flight plan was successfully achieved.